CyberX8/CyberX8_Themes/UserControls/MotionControl.xaml

<UserControl x:Class="CyberX8_Themes.UserControls.MotionControl"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
             xmlns:converters="clr-namespace:CyberX8_Themes.Converters"
             xmlns:local="clr-namespace:CyberX8_Themes.UserControls"
             xmlns:Control="clr-namespace:MECF.Framework.UI.Core.Control;assembly=MECF.Framework.UI.Core"
             mc:Ignorable="d" x:Name="self" 
             d:DesignHeight="850" d:DesignWidth="450">
    <UserControl.Resources>
        <converters:BoolToColor x:Key="boolToColor"/>
        <converters:BoolToRedColor x:Key="boolToRedColor"/>
    </UserControl.Resources>
    <Grid>
        <GroupBox Header="{Binding ModuleTitle, ElementName=self}"  Background="{DynamicResource Table_BD_Title}" BorderBrush="DarkGray">
            <Grid>
                <Grid.RowDefinitions>
                    <RowDefinition Height="30"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="150"/>
                    <RowDefinition Height="70"/>
                    <RowDefinition Height="180"/>
                    <RowDefinition Height="2"/>
                    <RowDefinition Height="240"/>
                    <RowDefinition Height="60"/>
                    <RowDefinition/>
                </Grid.RowDefinitions>

                <WrapPanel Grid.Row="0" VerticalAlignment="Center">
                    <Label Content="Status" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Background="Black" Foreground="Lime" VerticalAlignment="Center" Text="{Binding MotionData.Status, ElementName=self}" 
                               FontWeight="Bold" FontSize="16"  Width="365"/>
                </WrapPanel>
                <Grid Grid.Row="1">
                    <Button Style="{StaticResource SysBtnStyle}" Width="50" Content="ON" Margin="9,2,359,3" Height="30" Click="SwitchOn_Click"/>
                    <Ellipse Margin="66,9,336,10"  Width="16" Height="16"  Fill="{Binding MotionData.IsSwitchOn, Converter={StaticResource boolToColor}, ElementName=self}"   Stroke="Silver"/>
                    <Button Style="{StaticResource SysBtnStyle}" Width="50" Content="OFF" Margin="88,2,280,3" Height="30" Click="SwitchOff_Click"/>
                    <Button Style="{StaticResource SysBtnStyle}" Width="50" Content="Home" Margin="325,2,43,3" Height="30" Click="Home_Click"/>
                    <Ellipse Margin="382,9,20,10"  Width="16" Height="16"  Fill="{Binding MotionData.IsHomed, Converter={StaticResource boolToColor}, ElementName=self}"   Stroke="Silver"/>
                </Grid>
                <Grid Grid.Row="2">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="220"/>
                        <ColumnDefinition Width="130"/>
                        <ColumnDefinition Width="80"/>
                        <ColumnDefinition Width="*"/>
                    </Grid.ColumnDefinitions>
                    <Label Grid.Row="0" Grid.Column="0" Content="Motor Position" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="0" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.MotorPosition, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="0" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="1" Grid.Column="0" Content="Target Position" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="1" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.TargetPosition, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="1" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="2" Grid.Column="0" Content="Position Error" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="2" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.PositionError, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="2" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="3" Grid.Column="0" Content="Torque" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="3" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.ActualTorque, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="3" Grid.Column="2" Margin="2,0,2,0" Text="%" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="4" Grid.Column="0" Content="Velocity" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="4" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding ElementName=self,Path=MotionData.ActualVelocity, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="4" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
                        </TextBlock.Text>
                    </TextBlock>
                </Grid>
                <Grid Grid.Row="3">
                    <Button Style="{StaticResource SysBtnStyle}" Width="50" Content="-jog" Margin="104,2,284,38" Height="30" Click="JogDown_Click"/>
                    <Control:NumbericUpDown HorizontalAlignment="Center" Margin="0,2,0,0" VerticalAlignment="Top"  Width="120" Height="35" MaxValue="100.00" MinValue="-100.00"
                                            IncrementValue="{Binding ElementName=self,Path=IncrementValue,Mode=TwoWay}" DigitalMaxLength="2" Value="{Binding ElementName=self,Path=JogValue,Mode=TwoWay}"/>
                    <Button Style="{StaticResource SysBtnStyle}" Width="50" Content="+jog" Margin="285,2,103,38" Height="30" Click="JogUp_Click"/>
                    <Button Style="{StaticResource SysBtnStyle}" Width="50" Content="Stop" Margin="184,39,204,1" Height="30" Click="JogStop_Click"/>
                </Grid>
                <Grid Grid.Row="4">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="180"/>
                        <ColumnDefinition Width="85"/>
                        <ColumnDefinition Width="85"/>
                        <ColumnDefinition Width="80"/>
                        <ColumnDefinition Width="*"/>
                    </Grid.ColumnDefinitions>
                    <Label Grid.Row="0" Grid.Column="0" Content="Speed" FontSize="16" FontWeight="Bold"/>
                    <Control:NumbericTextBox Grid.Row="0" Grid.Column="1"  Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80" 
                                             Height="22" Value="{Binding ElementName=self,Path=InputSpeed,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="ProfileVelocity" 
                                             KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
                    <TextBlock Grid.Column="2" Margin="0,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  
                               Text="{Binding ElementName=self,Path=MotionData.ProfileVelocity,StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="0" Grid.Column="3" TextAlignment="Center"  VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
                        </TextBlock.Text>
                    </TextBlock>

                    <Label Grid.Row="1" Grid.Column="0" Content="Acceleration" FontSize="16" FontWeight="Bold"/>
                    <Control:NumbericTextBox Grid.Row="1" Grid.Column="1"  Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80" 
                                             Height="22" Value="{Binding ElementName=self,Path=InputAcceleration,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="ProfileAccel" 
                                             KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
                    <TextBlock Grid.Row="1" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  
                               Text="{Binding ElementName=self,Path=MotionData.ProfileAccel, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="1" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
                        </TextBlock.Text>
                    </TextBlock>

                    <Label Grid.Row="2" Grid.Column="0" Content="Deceleration" FontSize="16" FontWeight="Bold"/>
                    <Control:NumbericTextBox Grid.Row="2" Grid.Column="1"  Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80" 
                          Height="22" Value="{Binding ElementName=self,Path=InputDeceleration,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="ProfileDecel" 
                                             KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
                    <TextBlock Grid.Row="2" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  
                            Text="{Binding ElementName=self,Path=MotionData.ProfileDecel, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="2" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
                        </TextBlock.Text>
                    </TextBlock>

                    <Label Grid.Row="3" Grid.Column="0" Content="Home Speed Switch" FontSize="16" FontWeight="Bold"/>
                    <Control:NumbericTextBox Grid.Row="3" Grid.Column="1"  Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80" 
                                             Height="22" Value="{Binding ElementName=self,Path=InputHomeSpeedSwitch,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="HomingVelocity" 
                                             KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
                    <TextBlock Grid.Row="3" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center" 
                               Text="{Binding MotionData.HomingVelocity, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="3" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
                        </TextBlock.Text>
                    </TextBlock>

                    <Label Grid.Row="4" Grid.Column="0" Content="Home Speed Index" FontSize="16" FontWeight="Bold"/>
                    <Control:NumbericTextBox Grid.Row="4" Grid.Column="1"  Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80" 
                                             Height="22" Value="{Binding ElementName=self,Path=InputHomeSpeedIndex,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="HomingVelocitySlow" 
                                             KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}"/>
                    <TextBlock Grid.Row="4" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  
                               Text="{Binding MotionData.HomingVelocitySlow, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="4" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/sec" />
                        </TextBlock.Text>
                    </TextBlock>

                    <Label Grid.Row="5" Grid.Column="0" Content="Home Accel/Decel" FontSize="16" FontWeight="Bold"/>
                    <Control:NumbericTextBox Grid.Row="5" Grid.Column="1"  Margin="2,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Center" Width="80"
                                             Height="22" Value="{Binding ElementName=self,Path=InputHomeAccelDecel,StringFormat={}{0:F2},Mode=TwoWay}" TextboxName="HomingAccel" 
                                             KeyOperation="{Binding ElementName=self,Path=KeyDownCommand}" />
                    <TextBlock Grid.Row="5" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  
                               Text="{Binding MotionData.HomingAccel, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="5" Grid.Column="3" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
                        </TextBlock.Text>
                    </TextBlock>
                </Grid>

                <Grid Grid.Row="6">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                        <RowDefinition Height="30"/>
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="220"/>
                        <ColumnDefinition Width="130"/>
                        <ColumnDefinition Width="80"/>
                        <ColumnDefinition Width="*"/>
                    </Grid.ColumnDefinitions>
                    <Label Grid.Row="0" Grid.Column="0" Content="Home Offset" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="0" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.HomeOffset, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="0" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="1" Grid.Column="0" Content="Position Error Limit" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="1" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.PositionErrorLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="1" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="2" Grid.Column="0" Content="TargetPosition Error Limit" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="2" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.TargetPositionErrorLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="2" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self,Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="3" Grid.Column="0" Content="Torque Limit" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="3" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding ElementName=self,Path=MotionData.TorqueLimit}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="3" Grid.Column="2" Margin="2,0,2,0" Text="%" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="4" Grid.Column="0" Content="E Stop Deceleration" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="4" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.EStopDeceleration, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="4" Grid.Column="2" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold">
                        <TextBlock.Text>
                            <Binding ElementName="self" Path="ModuleUnit" StringFormat=" {0}/s/s" />
                        </TextBlock.Text>
                    </TextBlock>

                    <Label Grid.Row="5" Grid.Column="0" Content="E Stop Torque" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="5" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.EStopTorque, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="5" Grid.Column="2" Margin="2,0,2,0" Text="%" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="6" Grid.Column="0" Content="Rev Soft Limit" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="6" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.RevSoftLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="6" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self, Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>

                    <Label Grid.Row="7" Grid.Column="0" Content="Fwd Soft Limit" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="7" Grid.Column="1" Margin="2,0,2,0" TextAlignment="Center" VerticalAlignment="Center"  Text="{Binding MotionData.FwdSoftLimit, ElementName=self, StringFormat=\{0:F2\}}" Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                    <TextBlock Grid.Row="7" Grid.Column="2" Margin="2,0,2,0" Text="{Binding ElementName=self, Path=ModuleUnit}" TextAlignment="Center" VerticalAlignment="Center"  Background="Black" Foreground="Lime" FontSize="16" FontWeight="Bold"/>
                </Grid>

                <Grid Grid.Row="7">
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="299*"/>
                        <ColumnDefinition Width="139*"/>
                    </Grid.ColumnDefinitions>
                    <Label  Content="Rev Limit" FontSize="16" FontWeight="Bold" Margin="0,0,181,19" />
                    <Ellipse Margin="34,24,249,20"  Width="16" Height="16"  Fill="{Binding MotionData.RevLimited, Converter={StaticResource boolToRedColor}, ElementName=self}"   Stroke="Silver"/>
                    <Label  Content="Home Switch" FontSize="16" FontWeight="Bold" Margin="160,0,7,19" />
                    <Ellipse Margin="194,24,89,20"  Width="16" Height="16"  Fill="{Binding MotionData.HomedSwitched, Converter={StaticResource boolToColor}, ElementName=self}"   Stroke="Silver"/>
                    <Label  Content="Fwd Limit" FontSize="16" FontWeight="Bold" Margin="26,0,15,19" Grid.Column="1" />
                    <Ellipse Margin="60,24,63,20"  Width="16" Height="16"  Fill="{Binding MotionData.FwdLimited, Converter={StaticResource boolToRedColor}, ElementName=self}"   Stroke="Silver" Grid.Column="1"/>

                </Grid>
            </Grid>
        </GroupBox>

    </Grid>
</UserControl>